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Ship Manoeuvrability and Its Control -‐ Thirty Years Research Review -‐
Kazuhiko Hasegawa Osaka University
Japan
Dalian Mari;me University, 29 Oct., 2010
Background and History of the Research
• Ship manoeuvring research in 1970s • Autopilot for saving energy • Necessity of the research of man-‐machine System – Developing a ship handling simulator, as one of the oldest ones in the world
• Developing standard mathema;cal model of ship manoeuvring
VLCCs Ship Manoeuvring Model before 1970
• David and Schiff Model – Davidson, K.S.M., and L.I. Schiff, Turning and course keeping quali;es, Trans. SNAME, Vol.54, 1946
• Abkowitz Model – Abkowitz, M.A., Lectures on Ship Hydrodynamics -‐ Steering and Manoeuvrability, Hya Report no. Hy-‐5, 1964
• Nomoto’s K-‐T Model – First order Model – Second order model – Second order non-‐linear model
• Necessity to develop a model for new types of ships
Model Ship Experiments Model Ship Experiments
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Ship Manoeuvring Model in 1970s
• David and Schiff Model • Abkowitz Model • Nomoto’s K-‐T Model – First order Model – Second order model – Second order non-‐linear model
• Necessity to develop a model for new types of ships
Ship Manoeuvring Model in 1980s
• Necessity to develop a model for new types of ships – MMG model (module type mathema;cal model considering hull, propeller, rudder and their interac;ons respec;vely)
• S;ll now several varia;on of MMG model exists • Some extended MMG models applicable for twin-‐propeller ship, for shallow water etc. exist
Background and History of the Research
• Ship manoeuvring research in 1970s • Autopilot for saving energy • Necessity of the research of man-‐machine System – Developing a ship handling simulator, as one of the oldest ones in the world
• Developing standard mathema;cal model of ship manoeuvring
Adap;ve Autopilot • Model Reference Adap;ve Control
– Amerongen, J. van and A.J. Udink ten Cate, Model reference adap;ve autopilots for ships, Automa;ca, Vol. 11., pp 441-‐449, 1975
• Self-‐tuning Control – Källström, C.G., K.J. Åström, N.E. Thorell, J. Eriksson and L. Sten, Adap;ve
autopilots for steering of large tankers, Report Department of Automa;c Control, Lund Ins;tute of Technology, Lund , Sweden, 1977
• Stochas;c Model – Ohtsu, K., M. Horigome, G. Kitagawa, A new ships autopilot design through a
stochas;c model, Automa;ca, Vol 15, pp. 255-‐268, 1979 • Adap;ve Control
– Tiano, A., E. Volta, A.W. Brink and T.W. Verbruggen, Adap;ve control of large ships in non-‐sta;onary condi;ons -‐ a simula;on study, Proceedings Symposium on Ship Steering Automa;c Control, Genova, Italy, 1980
• etc
Cost Func;on of Fuel Consump;on • Koyama’s criterion J=ψ2+λδ2
– Koyama, T. On the op;mum automa;c steering system of ships at sea, J.S.N.A., Vol 122, Dec., 1967
• Norrbin, N.H., On the added resistance due to steering on a straight course, 13th ITTC,Berlin, Hamburg, 1972
• Clarke, D., Development of a cost func;on for autopilot op;miza;on, Proceedings Symposium on Ship Steering Automa;c Control, Genova, Italy, 1980
• Blanke, M. and J.C. Nortok Thompson, Experiment with direct measurement of steering generated propulsion losses, 6th Ship Control Systems Symposium, Olawa, Canada, 1981
• Hasegawa’s criterion – K. Hasegawa : On a Performance Criterion of Autopilot Naviga;on, Journal of
the Kansai Society of Naval Architects, Japan (J.KSNAJ) 178, pp.93-‐103, Sep., 1980
• etc
Background and History of the Research
• Ship manoeuvring research in 1970s • Autopilot for saving energy • Necessity of the research of man-‐machine System – Developing a ship handling simulator, as one of the oldest ones in the world
• Developing standard mathema;cal model of ship manoeuvring
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First Genera;on Ship Handling Simulator (1974)
• Feasibility study on instability criterion of human ability to control a VLCC (SR151, Japan) – Nomoto, K., Simulators from the naval architects point of view, Proceedings of MARSIM, Southampton, UK, 1978
– T. Koyama, K. Kose and K. Hasegawa : A Study on the Instability Criterion of the Manual Steering of Ships (in Japanese), J. of the Society of Naval Architects of Japan (J.SNAJ) 142, pp.119-‐126, Dec., 1977
First Ship Handling Simulator in the world (Hiroshima University, 1970)
SR151 Ship Handling Simulator (1974) Full Mission Ship Handling Simulator
Background and History of the Research (con;n’d)
• Developing intelligent ship control systems including – collision avoidance – berthing/deberthing control
• Developing a tool for safety assessment in congested waterways
• Developing standardisa;on of mathema;cal model of ship manoeuvring in low speed and/or in shallow water etc
Automa;c Collision Avoidance
• Fuzzy Reasoning and Control – A. Kouzuki and K. Hasegawa : Automa;c Collision Avoidance System for Ships Using fuzzy Control (in Japanese), J.KSNAJ 205, pp.1-‐10, June 1987
– K. Hasegawa : Fuzzy Modelling of the Behaviours and Decision-‐Making of Ship Navigators, Proc. of 3rd Interna;onal Fuzzy Systems Associa;on (IFSA)Congress, pp.663-‐666, Sealle, Aug. 1989
• Expert System for Mul;ple Ship Encounter – K. Hasegawa, A. Kouzuki, T. Muramatsu, H. Komine and Y. Watabe : Ship Auto-‐naviga;on Fuzzy Expert System (SAFES) (in Japanese), J.SNAJ 166, pp.445-‐452, Dec. 1989
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Automa;c Collision Avoidance Experiment Automa;c Collision Avoidance Experiment
Background and History of the Research (con;n’d)
• Developing intelligent ship control systems including – collision avoidance – berthing/deberthing control
• Developing a tool for safety assessment in congested waterways
• Developing standardisa;on of mathema;cal model of ship manoeuvring in low speed and/or in shallow water etc
Automa;c Berthing Experiment
Automa;c Berthing Experiment Background and History of the Research (con;n’d)
• Developing intelligent ship control systems including – collision avoidance – berthing/deberthing control
• Developing a tool for safety assessment in congested waterways
• Developing standardisa;on of mathema;cal model of ship manoeuvring in low speed and/or in shallow water etc
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Marine Traffic Simula;on Background and History of the Research (con;n’d)
• Developing intelligent ship control systems including – collision avoidance – berthing/deberthing control
• Developing a tool for safety assessment in congested waterways
• Developing standardisa;on of mathema;cal model of ship manoeuvring in low speed and/or in shallow water etc
Single-‐propeller Twin-‐Rudder Ship Single-‐propeller Twin-‐Rudder Ship
Automa;c Naviga;on in Slow Speed by Single-‐propeller Twin-‐rudder Ship
Automa;c Naviga;on in Slow Speed by Single-‐propeller Twin-‐rudder Ship
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Automa;c Naviga;on in Slow Speed by Single-‐propeller Twin-‐rudder Ship
Automa;c Naviga;on in Slow Speed by Single-‐propeller Twin-‐rudder Ship
Automa;c Naviga;on in Slow Speed by Single-‐propeller Twin-‐rudder Ship
Automa;c Naviga;on in Slow Speed by Single-‐propeller Twin-‐rudder Ship
Concluding Remarks
• Ship manoeuvrability and its predic;on are long-‐;me subject.
• It cannot be separated with human and autopilot behaviours and with environmental disturbances.
• New devises, new theories and new ideas to overcome these important issues are highly recommended to be searched by younger genera;on.